CN109533051B - Convertible stair climbing robot with collapsible swing arm - Google Patents

Abstract

The invention discloses a flip-type stair-climbing robot with a foldable swing arm, belonging to the technical fields of investigation, search and rescue and exploration robots, comprising: a wheeled mobile platform, a swing arm, a flip shaft, a driving wheel, a driven wheel and a flip motor; The turning motor is installed in the wheeled mobile platform, and its output shaft is coaxially fixed with a driving wheel; the turning shaft is installed on the wheeled mobile platform, and a driven wheel is coaxially fixed in the middle of the turning shaft, and the driven wheel and the driving wheel are coaxially fixed. The two ends of the flip shaft are respectively installed with two swing arms with the same structure, the two swing arms are respectively located on both sides of the wheeled mobile platform along the walking direction, and the swing arms can be folded; the present invention can overcome the existing The swing arm of the flip robot cannot be folded, which leads to the problem that it cannot be used in throwing and has poor portability.

Description

A flipped stair-climbing robot with foldable swing arm

technical field

The invention belongs to the technical fields of investigation, search and rescue and exploration robots, and in particular relates to a flip-up stair-climbing robot with a foldable swing arm.

Background technique

The miniature flip-up stair-climbing robot can climb over obstacles such as stairs and ruins, and has a small volume and mass, and has obvious advantages in the fields of investigation, search and rescue, and detection. In order to realize the flipping motion of the robot, the rotating arm assembly of the miniature flipping stair climbing robot is indispensable. The swing arm of the existing flipped stair climbing robot is a cantilever beam projecting outward, which is not foldable, such as patent CN104647343, paper FlipBot: A New Field Robotic Platform for Fast Stair Climbing, etc. Therefore, the throwing deployment method cannot be completed, and the swing arm extends outward, which increases the volume of the robot and reduces portability.

SUMMARY OF THE INVENTION

In view of this, the present invention provides a flipped stair climbing robot with a foldable swing arm, which can overcome the problems that the swing arm of the existing flipped robot cannot be folded, resulting in inability to be used in throwing and poor portability.

The present invention is achieved through the following technical solutions:

A flipped stair-climbing robot with a foldable swing arm, comprising: a wheeled mobile platform, a swing arm, a flipping shaft, a driving wheel, a driven wheel and a flipping motor;

The turning motor is installed in the wheeled mobile platform, and its output shaft is coaxially fixed with a driving wheel;

The turning shaft is installed on the wheeled mobile platform, and a driven wheel is coaxially fixed in the middle of the turning shaft, and the driven wheel is meshed with the driving wheel; the two ends of the turning shaft are respectively installed with two swing arms with the same structure. The swing arms are respectively located on both sides of the wheeled mobile platform along the walking direction, and the swing arms are foldable;

When the swing arm is in the folded state, it is folded on both sides of the wheeled mobile platform;

When the swing arm is in the unfolded state, the swing arm forms a rod-like structure, and the top of the two swing arms touches the ground under the action of the overturning motor. Wheeled mobile platform flips.

Further, the swing arm includes: a cross-folding rod, a shaft end stub, an outer swing arm rod, an inner support arm rod, a compression spring and a spring baffle;

Both ends of the turning shaft are processed into a waist-shaped column structure;

The shaft end iron is a cylindrical structure with a waist-shaped cross section, one end of which is machined with a waist-shaped blind hole that is the same as the waist-shaped column structure of the turning shaft, and the end face of the other end extends out of a ring-shaped limit table. It is used to limit the axial position of the outer swing arm rod installed on the shaft end block iron; the waist-shaped blind hole of the shaft end block iron is matched with the waist-shaped column structure at the end of the overturning shaft;

The outer swing arm rod is composed of a circular ring and a first connecting rod integrally formed on the outer circumferential surface of the circular ring; the inner circumferential surface of the circular ring is provided with two opposite plane bosses, so that the inner hole of the circular ring is formed with the A waist-shaped through hole with the same shape and shape of the shaft end stub; the outer swing arm is sleeved on the shaft end stub through the waist-shaped through hole;

The inner support arm rod is composed of a cylinder and a second connecting rod integrally formed on the outer circumferential surface of the cylinder; one end of the inner hole of the cylinder is a circular hole with the same diameter as the turning shaft, and the other end is a resistance to the shaft end. A waist-shaped hole with the same shape and shape of the iron, and the circular hole communicates with the waist-shaped hole, and the diameter of the circular hole is smaller than the diameter of the circle where the waist-shaped hole is located; the end face of the cylinder where the waist-shaped hole is located extends out an annular boss, the second connecting rod is arranged on the outer circumferential surface of the annular boss; the inner support arm rod is sleeved on the overturning shaft, and is in clearance fit with the overturning shaft, and can rotate relative to each other, and the inner support arm The rod can move axially along the turning shaft;

The shaft end sear on which the outer swing arm rod is installed is fitted through its waist-shaped blind hole and fixed on the end of the flipping shaft; among the two connecting ends of the end of the cross-folding rod, one connecting end is hinged with the first connecting rod , the other connecting end is hinged with the second connecting rod; the compression spring is installed outside the inner support arm, one end of which is in contact with the spring baffle fixed on the overturning shaft, and the other end is in contact with the annular protrusion of the inner support arm on stage;

When the shaft end slug does not correspond to the waist-shaped hole of the inner support arm, that is, the waist-shaped through hole of the outer swing arm does not coincide with the waist-shaped hole of the inner support arm, the inner support arm is under the action of the compression spring. , so that the end face of the waist-shaped hole of the inner support arm is in contact with the end face of the waist-shaped blind hole of the shaft end resistance iron, but the inner support arm is not sleeved on the shaft end resistance iron; When the iron and the turning shaft rotate, the inner support arm is driven to rotate around the axis of the turning shaft, so that the angle between the first connecting rod of the outer swing arm and the second connecting rod of the inner support arm changes. When the angle reaches the limit position, the cross-folding rod is in the folded state;

When the shaft end slug rotates with the turning shaft to correspond to the waist-shaped hole of the inner support arm, that is, when the waist-shaped hole of the outer swing arm coincides with the waist-shaped hole of the inner support arm, the inner support arm is in the compression spring. Under the action of the inner support arm, the inner support arm is sleeved on the shaft end block iron through its waist-shaped hole, and the inner support arm and the outer swing arm can rotate synchronously with the turning shaft; at this time, the first connection of the outer swing arm The rod coincides with the second connecting rod of the inner support arm rod, and the cross-folding rod is in an unfolded state.

Further, the limit position of the included angle is an obtuse angle.

Beneficial effects: (1) When the robot carries, throws, and moves on the ground, the present invention can keep the swing arm in the folded state and not in direct contact with other objects, so as to avoid interference and damage to the swing arm; When climbing over obstacles such as stairs, steps, and ruins, the swing arm can be in an unfolded state, and the robot can be supported to turn over and overcome obstacles by driving the swing arm to rotate.

(2) The present invention reduces the overall size of the robot and increases the portability of the robot by using a foldable swing arm to replace the swing arm of the existing cantilever.

(3) The swing arm of the present invention can drive the swing arm in the unfolded state to rotate by using the original turning motor and the compression spring inside the robot as the power element, without additional power and reducing the cost.

Description of drawings

Fig. 1 is the overall structure outline drawing of the present invention;

Fig. 2 is the internal structure composition diagram of the present invention;

Figure 3 is a folded state diagram of the swing arm;

Fig. 4 is the unfolded state diagram of the swing arm;

Figure 5 is an exploded view of the structure of the swing arm;

Figure 6 is an exploded view of the folded state of the swing arm;

7 is an exploded view between the folded state and the unfolded state of the swing arm;

Figure 8 is an exploded view of the deployed state of the swing arm;

9 is an exploded view of the unfolded state section of the swing arm;

Fig. 10 is the overall structure diagram of the swing arm of the present invention between the folded state and the unfolded state;

Figure 11 is a general structural diagram of the swing arm of the present invention in a deployed state;

Among them, 1-wheeled mobile platform, 2-swing arm, 3-cross folding rod, 4-shaft end block, 5-flip shaft, 6-external swing arm, 7-inner support arm, 8-compression spring , 9- spring baffle, 10- driving wheel, 11- driven wheel, 12- flipping motor.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

This embodiment provides a flipped stair-climbing robot with a foldable swing arm, see Figures 1 and 2, including: a wheeled mobile platform 1, a swing arm 2, a flip shaft 5, a driving wheel 10, a driven wheel 11 and flip motor 12;

The wheeled mobile platform 1 is the main structure of the robot, and four walking wheels are respectively installed at its four corners to realize the walking of the robot;

The turning motor 12 is installed in the wheeled mobile platform 1, and its output shaft is coaxially fixed with the driving wheel 10;

The turning shaft 5 is installed on the wheeled mobile platform 1, and its axis is parallel to the axis of the traveling wheel; the middle part of the turning shaft 5 is coaxially fixed with a driven wheel 11, and the driven wheel 11 meshes with the driving wheel 10; the turning shaft Both ends of 5 are processed into a waist-shaped column structure, that is, two opposite ends of the outer circumferential surface of the end of the overturn shaft 5 are processed with cuts to form planes, and two swing arms 2 with the same structure are respectively installed at both ends. The swing arms 2 are respectively located on both sides of the wheeled mobile platform 1 along the walking direction;

3-9, the swing arm 2 includes: a cross-folding rod 3, a shaft end block 4, an outer swing arm rod 6, an inner support arm rod 7, a compression spring 8 and a spring baffle 9;

The shaft end iron 4 is a cylindrical structure with a waist-shaped cross-section, one end of which is machined with a waist-shaped blind hole that is the same as the waist-shaped cylindrical structure of the turning shaft 5, and the end face of the other end extends out of an annular limit table. , used to limit the axial position of the outer swing arm rod 6 installed on the shaft end iron 4;

The outer swing arm rod 6 is composed of a circular ring and a first connecting rod integrally formed on the outer circumferential surface of the circular ring; the inner circumferential surface of the circular ring is provided with two opposite plane bosses, so that the inner hole of the circular ring is formed. A waist-shaped through hole with the same shape as the shaft end block iron 4; the outer swing arm rod 6 is sleeved on the shaft end block iron 4 through the waist-shaped through hole; the setting of the waist-shaped through hole can limit the outer swing arm rod 6 Relative rotation with the shaft end stub 4;

The inner support arm rod 7 is composed of a cylinder and a second connecting rod integrally formed on the outer circumferential surface of the cylinder; one end of the inner hole of the cylinder is a circular hole with the same diameter as the turning shaft 5, and the other end is a circular hole with the same diameter as the shaft. The waist-shaped hole with the same shape and shape of the end block iron 4, that is, the inner support arm rod 7 can be sleeved on the shaft end block iron 4 through the waist-shaped hole, and the waist-shaped through hole of the outer swing arm rod 6 and the inner support arm rod 7 are connected. The shape of the waist-shaped hole is the same, and the circular hole is communicated with the waist-shaped hole, and the diameter of the circular hole is smaller than the diameter of the circle where the waist-shaped hole is located; the end face of the waist-shaped hole of the cylinder extends out of an annular boss , the second connecting rod is arranged on the outer circumferential surface of the annular boss; the inner support arm rod 7 is sleeved on the overturning shaft 5, and is a clearance fit with the overturning shaft 5, which can rotate relative to each other, and the inner support arm The rod 7 can move axially along the turning shaft 5;

The shaft end block iron 4 installed with the outer swing arm rod 6 is fitted through its waist-shaped blind hole and fixed on the end of the flip shaft 5 by screws; among the two connecting ends of the end of the cross-folding rod 3, one connecting end is connected to the other end. The first connecting rod is hinged, and the other connecting end is hinged with the second connecting rod; the compression spring 8 is installed outside the inner support arm 7, one end of which is in contact with the spring baffle 9 fixed on the turning shaft 5, and the other One end abuts on the annular boss of the inner support arm 7;

When the shaft end slug 4 does not correspond to the waist-shaped hole of the inner support arm 7, that is, the waist-shaped through hole of the outer swing arm 6 does not coincide with the waist-shaped hole of the inner support arm 7, the inner support arm 7 is in the Under the action of the compression spring 8, the inner support arm 7 is moved along the turning shaft 5 toward the shaft end stub 4 until the end face of the waist-shaped hole of the inner support arm 7 is in contact with the waist-shaped blind of the shaft end stub 4. The end face where the hole is located, that is, the inner support arm 7 will not be set on the shaft end stub 4; when the outer swing arm 6 rotates with the shaft end stub 4 and the flip shaft 5, the outer swing arm 6 and the inner support arm The rod 7 is connected by the cross-folding rod 3, therefore, it will drive the inner support arm rod 7 to rotate around the axis of the turning shaft 5, so that the connection between the first connecting rod of the outer swing arm rod 6 and the second connecting rod of the inner support arm rod 7 is made. The included angle changes, and when the included angle is 153°, it is the limit position of the included angle, and the cross-folding rod 3 is in a folded state at this time;

When the shaft end slug 4 rotates with the turning shaft 5 to correspond to the waist-shaped hole of the inner support arm 7, that is, when the waist-shaped hole of the outer swing arm 6 coincides with the waist-shaped hole of the inner support arm 7, the inner support Under the action of the compression spring 8, the arm rod 7 moves the inner support arm rod 7 along the turning shaft 5 toward the shaft end stub 4, so that the inner support arm 7 is sleeved on the shaft end stub 4 through its waist-shaped hole. , since both the inner support arm 7 and the outer swing arm 6 and the shaft end stub 4 will not rotate relative to the shaft end stub 4, therefore, the inner support arm 7 and the outer swing arm 6 can follow the turning shaft 5 Synchronous rotation is performed; at this time, the first connecting rod of the outer swing arm 6 is overlapped with the second connecting rod of the inner support arm 7, the cross-folding rod 3 is in the unfolded state, and the cross-folding rod 3 in the unfolded state follows the turning shaft 5 make a turn.

Working principle: Referring to Figure 1, when the robot is carrying, throwing, and moving on the ground, the turning motor 12 is controlled to work, and the turning shaft 5 is driven to rotate by the driving wheel 10 and the driven wheel 11 until the first connection of the outer swing arm 6 When the angle between the rod and the second connecting rod of the inner support arm rod 7 is the limit position, the swing arm 2 is in a folded state, and the flip motor 12 no longer works, so that the swing arm 2 remains in the folded state and does not interact with other objects. direct contact to avoid interference;

Referring to Figures 10-11, when the robot needs to climb over obstacles such as stairs, steps, ruins, etc., it controls the turning motor 12 to work, and drives the turning shaft 5 to rotate in the opposite direction through the driving wheel 10 and the driven wheel 11 until the outer swing arm 6 The first connecting rod coincides with the second connecting rod of the inner support arm rod 7, and the swing arm 2 is in the unfolded state; the turning motor 12 continues to work, driving the two swing arms 2 to rotate synchronously with the turning shaft 5, when the two swing arms 2 collide When on the ground, the two swing arms 2 take the contact point with the ground as the rotation center to drive the wheeled mobile platform 1 to turn over to complete the obstacle crossing.

To sum up, the above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (2)

1. A flipped stair-climbing robot with a foldable swing arm, characterized in that it comprises: a wheeled mobile platform (1), a swing arm (2), a flip shaft (5), a driving wheel (10), a driven wheel (11) and the flipping motor (12); The turning motor (12) is installed in the wheeled mobile platform (1), and the output shaft thereof is coaxially fixed with a driving wheel (10); The turning shaft (5) is mounted on the wheeled mobile platform (1), and a driven wheel (11) is coaxially fixed in the middle of the turning shaft (5), and the driven wheel (11) is meshed with the driving wheel (10); Two swing arms (2) with the same structure are respectively installed at both ends of (5), and the two swing arms (2) are respectively located on both sides of the wheeled mobile platform (1) along the walking direction. 2) Foldable; When the swing arm (2) is in a folded state, it is folded on both sides of the wheeled mobile platform (1); When the swing arm (2) is in the unfolded state, the swing arm (2) forms a rod-like structure. (2) With its contact point with the ground as the rotation center, drive the wheeled mobile platform (1) to turn over; The swing arm (2) comprises: a cross-folding rod (3), a shaft end block (4), an outer swing arm rod (6), an inner support arm rod (7), a compression spring (8) and a spring baffle ( 9); Both ends of the turning shaft (5) are processed into a waist-shaped column structure; The shaft end iron (4) is a columnar structure with a waist-shaped cross section, one end of which is machined with a waist-shaped blind hole that is the same as the waist-shaped column structure of the turning shaft (5), and the end face of the other end extends out of the waist-shaped blind hole. The annular limit table is used to axially limit the outer swing arm rod (6) installed on the shaft end block iron (4); the waist-shaped blind hole of the shaft end block iron (4) is connected to the turning shaft (5 ) to match the waist column structure at the end; The outer swing arm rod (6) is composed of a circular ring and a first connecting rod integrally formed on the outer circumferential surface of the circular ring; The hole forms a waist-shaped through hole with the same external shape as the shaft end stub (4); the outer swing arm (6) is sleeved on the shaft end stub (4) through the waist-shaped through hole; The inner support arm rod (7) is composed of a cylinder and a second connecting rod integrally formed on the outer circumferential surface of the cylinder; one end of the inner hole of the cylinder is a circular hole with the same diameter as the turning shaft (5), and the other One end is a waist-shaped hole with the same shape as the shaft end iron (4), and the circular hole is communicated with the waist-shaped hole, and the diameter of the circular hole is smaller than the diameter of the circle where the waist-shaped hole is located; the cylinder An annular boss extends from the end face where the waist-shaped hole is located, and the second connecting rod is arranged on the outer circumferential surface of the annular boss; the inner support arm rod (7) is sleeved on the turning shaft (5), and The overturning shaft (5) is a clearance fit, capable of relative rotation, and the inner support arm rod (7) can move axially along the overturning shaft (5); The shaft end block iron (4) installed with the outer swing arm rod (6) is fitted through its waist-shaped blind hole and fixed at the end of the turning shaft (5); the two connecting ends of the end of the cross-folding rod (3) , one connecting end is hinged with the first connecting rod, and the other connecting end is hinged with the second connecting rod; the compression spring (8) is installed outside the inner support arm rod (7), and one end of the compression spring (8) is in contact with the shaft fixed on the turning shaft. On the spring baffle (9) on (5), the other end abuts on the annular boss of the inner support arm (7); When the shaft end slug (4) does not correspond to the waist-shaped hole of the inner support arm (7), that is, the waist-shaped through hole of the outer swing arm (6) does not coincide with the waist-shaped hole of the inner support arm (7). When the inner support arm rod (7) is under the action of the compression spring (8), the end face of the waist-shaped hole of the inner support arm rod (7) is in contact with the end of the waist-shaped blind hole of the shaft end block iron (4). but the inner support arm rod (7) is not sleeved on the shaft end block iron (4); when the outer swing arm rod (6) rotates with the shaft end block iron (4) and the turning shaft (5), it drives the inner support arm The rod (7) rotates around the axis of the turning shaft (5), so that the angle between the first connecting rod of the outer swing arm rod (6) and the second connecting rod of the inner support arm rod (7) changes. When the included angle reaches the limit position, the cross-folding rod (3) is in a folded state; When the shaft end slug (4) rotates with the turning shaft (5) to correspond to the waist-shaped hole of the inner support arm (7), that is, the waist-shaped hole of the outer swing arm (6) and the inner support arm (7) When the waist-shaped holes of ) coincide, the inner support arm rod (7) will be sleeved on the shaft end iron (4) through its waist-shaped hole under the action of the compression spring (8), and the inner support arm rod (7) will The support arm (7) and the outer swing arm (6) can rotate synchronously with the turning shaft (5); at this time, the first connecting rod of the outer swing arm (6) and the first connecting rod of the inner support arm (7) The two connecting rods overlap, and the cross-folding rod (3) is in an unfolded state. 2 . The flipped stair climbing robot with a foldable swing arm according to claim 1 , wherein the limit position of the included angle is an obtuse angle. 3 .

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